[6] Kangaroo was of similar design to HMS Peterel, Myrmidon and Syren, three "Thirty-Knotter" destroyers built by Palmers under the 1899–1900 programme.

Like these ships, she was powered by triple-expansion steam engines fed by four Reed boilers and driving two propeller shafts.

The machinery was rated at 6,200 indicated horsepower (4,600 kW), sufficient to propel the ship at her contract speed of 30 knots (56 km/h; 35 mph).

[8][9] Kangaroo was commissioned in August 1901 by Lieutenant Charles Edward Whately Pyddoke for service on the Mediterranean Station.

[15] Kangaroo remained part of the Sixth Destroyer Flotilla, based at Dover for the duration of the First World War.